Segmentation fault in kdl_parser.

[konradb3]

After building in Hydro one of my Gazebo plugins which use kdl_parser crash.
Backtrace:

#0  0x00007fffdc034e55 in boost::detail::atomic_increment (pw=0x4d) at /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:66
#1  0x00007fffdc034f76 in boost::detail::sp_counted_base::add_ref_copy (this=0x45) at /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:133
#2  0x00007fffdc035085 in boost::detail::shared_count::shared_count (this=0x7fff8f7fc758, r=...) at /usr/include/boost/smart_ptr/detail/shared_count.hpp:228
#3  0x00007ffff7e0ac3d in boost::shared_ptr<urdf::Link const>::shared_ptr<urdf::Link> (this=0x7fff8f7fc750, r=...) at /usr/include/boost/smart_ptr/shared_ptr.hpp:238
#4  0x00007ffff7e09d2d in kdl_parser::treeFromUrdfModel (robot_model=..., tree=...) at /home/konrad/ws/velma/src/robot_model/kdl_parser/src/kdl_parser.cpp:178
#5  0x00007ffff7e099bc in kdl_parser::treeFromXml (xml_doc=0x7fff8f7fc900, tree=...) at /home/konrad/ws/velma/src/robot_model/kdl_parser/src/kdl_parser.cpp:164
#6  0x00007ffff7e097d7 in kdl_parser::treeFromString (xml=..., tree=...) at /home/konrad/ws/velma/src/robot_model/kdl_parser/src/kdl_parser.cpp:154
#7  0x00007fffdc0320bd in gazebo::LWRController::GetRobotChain (this=0x7fff80435fb0) at /home/konrad/ws/velma/src/lwr_robot/lwr_simulation/src/lwr_controller.cpp:144
#8  0x00007fffdc031544 in gazebo::LWRController::Load (this=0x7fff80435fb0, _parent=..., _sdf=...) at /home/konrad/ws/velma/src/lwr_robot/lwr_simulation/src/lwr_controller.cpp:75
#9  0x00007ffff738d378 in gazebo::physics::Model::LoadPlugin(boost::shared_ptr<sdf::Element>) () from /usr/lib/libgazebo_physics.so.1
#10 0x00007ffff738d715 in gazebo::physics::Model::LoadPlugins() () from /usr/lib/libgazebo_physics.so.1
#11 0x00007ffff73cacba in gazebo::physics::World::ProcessFactoryMsgs() () from /usr/lib/libgazebo_physics.so.1
#12 0x00007ffff73cbb9e in gazebo::physics::World::ProcessMessages() () from /usr/lib/libgazebo_physics.so.1
#13 0x00007ffff73cc188 in gazebo::physics::World::Step() () from /usr/lib/libgazebo_physics.so.1
#14 0x00007ffff73cdf5c in gazebo::physics::World::RunLoop() () from /usr/lib/libgazebo_physics.so.1
#15 0x00007ffff5c85ce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#16 0x00007ffff6a9be9a in start_thread () from /lib/x86_64-linux-gnu/libpthread.so.0
#17 0x00007ffff502eccd in clone () from /lib/x86_64-linux-gnu/libc.so.6
#18 0x0000000000000000 in ?? ()

Shows the problem somewhere in kdl_parser.

[isucan]

@nkoenig any ideas?

[severin-lemaignan]

Exact same segfault here with groovy... (in kdl_parser while using robot_state_publisher)

[severin-lemaignan]

I could solve this issue by re-installing urdfdom_headers (and urdfdom, but this one is maybe not necessary) from their bitbucket repos: https://bitbucket.org/osrf/urdfdom_headers and then recompiling kdl_parser.

[isucan]

I am going to blame this on ABI changes. Please reopen if this becomes a problem again.

[konradb3]

It still doesn't work for me. I have installed urdfdom, urdfdom_headers and kdl_parser from sources (https://github.com/ros), but it still does not work.

[konradb3]

I have traced the problem to missing <inertia> tag in one of the links. URDF states that <inertia> tag is optional, so it looks like bug in urdf_parser.

[DLu]

Which tag?

[konradb3]

Sorry tag-name disappeared because of GitHub Markdown.